Synchronous motor control device, electric motor vehicle control device and method of controlling synchronous motor

• US 6,456,030 B1
• Filed: 05/29/2001
• Issued: 09/24/2002
• Est. Priority Date: 09/30/1998
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Kaneko, Satoru, Masaki, Ryoso
• Primary Examiner(s): Dang, Khanh
• Application Number:
  US09/865,537
• Publication Number:
  US 20020043953A1
• Time in Patent Office: 483 Days
• Field of Search: 318/700, 318/49, 318/701, 318/34, 318/804, 318/661, 318/805, 318/811, 318/807, 318/723, 318/41, 318/254, 318/439, 318/801, 318/724, 318/299, 318/715, 318/721, 361/33
• US Class Current: 318/700
• CPC Class Codes: B60L 15/025 using field orientation; Vector control; Direct Torque Control [DTC]
• CPC Class Codes: B60L 15/20 for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
• CPC Class Codes: B60L 2220/14 Synchronous machines
• CPC Class Codes: B60L 2220/16 DC brushless machines
• CPC Class Codes: B60L 2220/18 Reluctance machines
• CPC Class Codes: B60L 50/16 with provision for separate direct mechanical propulsion
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: B60L 50/60 using power supplied by batteries in combination with fuel cells B60L50/75
• CPC Class Codes: H02P 6/18 without separate position detecting elements
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

Abstract

A synchronous motor control system includes a synchronous motor 1, an inverter 3 and a controller 4 wherein a current differential detecting unit 13 detects a variation of a motor current when the three phases of the motor 1 is short circuited by the inverter 3, namely at the moment when a carrier wave in a PWM signal generator 9 assumes maximum or minimum value, in a calculating unit 14 a phase γ from α axis of a stationary coordinate system to a three phase short circuited current differential vector is calculated, a phase δ is estimated from d axis to the three phase short circuited current differential vector by making use of d axis current id and q axis current iq on d-q axes coordinate system in the controller 4, thereafter the magnetic pole position θ with respect to α axis is calculated from the phases γ and δ, based on thus calculated magnetic pole position θ, d-q axes control units 11, 7 and 8 are constituted to control the synchronous motor, thereby a highly reliable control system for the motor which permits a detection of the magnetic pole position without affecting a state of applied voltage thereto while performing a usual PWM control with a low cost controller.

Claims

1. A device for controlling a synchronous motor, comprising:

an inverter which drives said synchronous motor; and

a controller which detects a magnetic pole position of said synchronous motor based on a variation of a motor current when said synchronous motor is put in a short circuited state, and outputs a control signal to control said synchronous motor based on the detected magnetic pole position;

wherein

said inverter controls said synchronous motor based on the control signal; and

detection of the magnetic pole position by said controller is effected under a condition when said synchronous motor is controlled by said inverter.

2. The device according to claim 1, wherein, in the short circuited state of said synchronous motor, all phases thereof are short circuited.

3. The device according to claim 1, wherein said controller detects a variation amount or a variation direction of the motor at a moment when said synchronous motor is in a two phase short circuited state, which is generated when said inverter controls said synchronous motor through a PWM control.

4. The device according to claim 1. wherein said controller detects a variation amount or the variation direction of the motor current at the moment when said synchronous motor is placed in a three phase short circuited state, which is generated when said inverter controls said synchronous motor through a PWM control.

5. The device according to claim 1, wherein said controller obtains the variation amount or the variation direction of the motor current under a short circuited state representing the same when said synchronous motor is placed in a three phase short circuited state, from a variation amount or variation direction of the motor currents at the time of a plurality of different two phase short circuited states of said synchronous motor.

6. The device according to claim 1, wherein said controller comprises prolonging means which prolongs the three phase short circuited state.

7. The device according to claim 6, wherein said prolonging means prolongs the three phase short circuited state through a two phase switching operation.

8. A device for controlling a synchronous motor control device comprising:

an inverter which drives said synchronous motor; and

a controller which detects a magnetic pole position of said synchronous motor based on a variation direction of a motor current when said synchronous motor is put in a short circuited state, and generates a control signal to control said synchronous motor based on the detected magnetic pole position;

wherein

said inverter controls said synchronous motor based on the control signal; and

detection of the magnetic pole position by said controller is effected under a condition when said synchronous motor is controlled by said inverter.

9. The device according to claim 8, wherein, in the short circuited state of said synchronous motor, all phases thereof are short circuited.

10. The device according to claim 8, wherein said controller detects a variation amount or the variation direction of the motor at the moment when said synchronous motor is placed in a two phase short circuited state, which is generated when said inverter controls said synchronous motor through a PWM control.

11. The device according to claim 8, wherein said controller detects a variation amount or the variation direction of the motor at the moment when said synchronous motor is placed in a three phase short circuited state, which is generated when said inverter controls said synchronous motor through a PIRM control.

12. The device according to claim 8, wherein said controller obtains the variation amount or the variation direction of the motor current under a short circuited state, representing the same when said synchronous motor is placed in a three phase short circuited state from a variation amount or variation direction of the motor currents at the time of a plurality of direction two phase short circuited states, of said synchronous motor.

13. The device according to claim 8, wherein said controller comprises prolonging means which prolongs the three phases short circuited state.

14. The device according to claim 13, wherein said prolonging means prolongs the three phase short circuited state through a two phase switching operation.

15. A device for controlling a synchronous motor control device comprising:

an inverter which drives said synchronous motor and a controller which generates a control signal, wherein said inverter drives said synchronous motor based on the control signal generated by said controller; and

said controller which detects a variation direction of a motor current when said synchronous motor is in a short circuited state under control by said inverter, sets a d-q axes coordinate system while assuming the magnetic flux direction of a rotor of said synchronous motor as d axis and an axis orthogonal to the d axis as q axis, detects a d axis current and a q axis current on the d-q axes coordinate system, calculates the magnetic pole position of said synchronous motor based on the detected variation direction of the motor current, the detected d axis current and the detected q axis current and generates the control signal depending on the calculated magnetic pole position.

16. The device according to claim 15, wherein, in the short circuited state of said synchronous motor, all three phases thereof are short circuited.

17. The device according to claim 15, wherein said controller detects a variation amount or the variation direction of the motor at the moment when said synchronous motor is placed in a two phase short circuited state, which is generated when said inverter controls said synchronous motor through a PWM control.

18. The device according to claim 15, wherein said controller obtains the variation or the variation direction of the motor current under a short circuited state, representing the same when said synchronous motor is placed in a three phase short circuited state from a variation amount or variation direction of the motor currents at the time of a plurality of direction two phase short circuited states of said synchronous motor.

19. The device according to claim 15, wherein said controller comprises prolonging means which prolongs the three phase short circuited state.

20. The device according to claim 19, wherein said prolonging means prolongs the three phase short circuited state through a two phase switching operation.

21. A device for controlling a synchronous motor comprising:

a magnetic pole position detector which detects a magnetic pole position of said synchronous motor;

a controller which controls said synchronous motor depending on the magnetic pole position detected by said magnetic pole position detector; and

an inverter which drives said synchronous motor based on a signal from said controller,

wherein said controller determines the magnetic pole position of said synchronous motor based on a variation amount or a variation direction of a motor current when said synchronous motor is placed in a short circuited state under control by said inverter, and detects an abnormality in said magnetic pole position detector or the controller through comparison of the magnetic pole position detected by the magnetic pole position detector with the magnetic pole position obtained from the variation amount or the variation direction of the motor current.

22. The device according to claim 21, wherein when an abnormality in said magnetic pole position detector is detected, said controller controls said synchronous motor based on the magnetic pole position obtained from the variation amount or the variation direction of the motor current.

23. An electric motor vehicle control device comprising:

a synchronous motor which drives the electric motor vehicle;

a magnetic pole position detector which detects a magnetic pole position of said synchronous motor;

a controller which controls said synchronous motor depending on the magnetic pole position detected by said magnetic pole position detector; and

an inverter which drives said synchronous motor based on a signal from said controller,

wherein said controller determines the magnetic pole position of said synchronous motor based on a variation amount or a variation direction of a motor current when said synchronous motor is placed in a short circuited state under control by said inverter, and detects an abnormality in said magnetic pole position detector or the controller through comparison of the magnetic pole position detected by the magnetic pole position detector with the magnetic pole position obtained from the variation amount or the variation direction of the motor current.

24. An electric motor vehicle control device according to claim 23, wherein when an abnormality in said magnetic pole position detector is detected, said controller controls said synchronous motor based on the magnetic pole position obtained from the variation or the variation direction of the motor current.

25. An electric motor vehicle control device according to claim 23, wherein when said controller detects an abnormality, said controller stops the electric motor vehicle.

26. A synchronous motor comprising:

a controller; and

an inverter which drives said synchronous motor based on an output from said controller;

wherein said controller includes a first detector unit which detects a magnetic pole position of said synchronous motor based on a variation amount or a variation direction of a motor current when said synchronous motor is in a short circuited state under control by said inverter, and a control unit which generates an output based on the detected magnetic pole position, and further includes a second detector unit which detects a magnetic pole position at the time when a rotating speed of said synchronous motor is in a predetermined low range including a rotation stoppage state, wherein said controller controls the synchronous motor based on an output from said second detector unit when a rotating speed of said synchronous motor is in a predetermined low range including a rotation stoppage state and controls based on an output from said direct detector unit when a rotating speed of said synchronous motor is in a range larger than the predetermined low range.

27. The device according to claim 26, wherein said second detector unit includes a signal generating means which generates a signal for detecting a current used for calculating the magnetic pole position and a polarity discriminating unit which discriminates whether the calculated magnetic pole position is N pole direction or S pole direction.

28. The device according to claim 27, wherein said controller sends out PWM pulses to said inverter so that a current flows through said synchronous motor based on the output from said signal generating means, calculated a magnetic pole position by detecting the current of the synchronous motor based on the output from said signal generating means and controls the synchronous motor.

29. The device according to claim 27, further comprising a current control unit which controls a torque of said synchronous motor, wherein said polarity discriminating unit applies to said current control unit a current command for discriminating polarity in d axis direction and discriminating polarity of the magnetic pole based on differences in response characteristics of said synchronous motor.

30. The device according to claim 27, wherein said polarity discriminating unit discriminates polarity of the magnetic pole based on the torque of said synchronous motor which is generated depending on calculated magnetic pole position and rotating direction of a rotor shaft of said synchronous motor.

31. The device according to claim 26, further comprising a mechanism which prevents rotation of said synchronous motor, wherein when the rotation of said synchronous motor is prevented by said mechanism, a current based on an output current from said second detector unit is supplied to said synchronous motor.

32. An electric motor vehicle control device having a synchronous motor, comprising:

a controller; and

an inverter which drives said synchronous motor based on an output from said controller;

wherein said controller includes a first detector unit which detects a magnetic pole position of said synchronous motor based on a variation amount or a variation direction of a motor current when said synchronous motor is in a short circuited state under control by said inverter, and a control unit which generates an output based on the detected magnetic pole position, and further includes a second detector unit which detects a magnetic pole position at the time when a rotating speed of said synchronous motor is in a predetermined low range including a rotation stoppage state, wherein said controller controls the synchronous motor based on an output from said second detector unit when a rotating speed of said synchronous motor is in a predetermined low range including a rotation stoppage state and controls based on an output from said first detector unit when a rotating speed of said synchronous motor is in a range larger than the predetermined low range.

33. The electric motor vehicle control device according to claim 32, wherein said second detector unit includes a signal generating means which generates a signal for detecting a current used for calculating the magnetic pole position and a polarity discriminating unit which discriminates whether the calculated magnetic pole position is N pole direction or S pole direction.

34. The electric motor vehicle control device according to claim 33, wherein said controller sends out PWM pulses to said inverter so that a current flows through said synchronous motor based on the output from said signal generating means, calculates a magnetic pole position by detecting the current of the synchronous motor based on the output from said signal generating means and controls the synchronous motor.

35. The electric motor vehicle control device according to claim 33, further comprising a current control unit which controls a torque of said synchronous motor, wherein said polarity discriminating unit applies to said current control unit a current command for discriminating polarity in d axis direction and discriminates polarity of the magnetic pole based on differences in response characteristics of said synchronous motor.

36. The electric motor vehicle control device according to claim 33, wherein said polarity discriminating unit discriminates polarity of the magnetic pole based on the torque of said synchronous motor which is generated depending on calculated magnetic pole position and rotating direction of a rotor shaft of said synchronous motor.

37. An electric motor vehicle control device according to claim 32, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when rotation of a driving wheel of said electric motor vehicle is prevented including a state wherein a brake for said electric motor vehicle is activated.

38. An electric motor vehicle control device according to claim 32, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when rotation of a driving wheel of said electric motor vehicle is prevented including a state wherein a brake for said electric motor vehicle is activated.

39. An electric motor vehicle control device according to claim 34, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when rotation of a driving wheel of said electric motor vehicle is prevented including a state wherein a brake for said electric motor vehicle is activated.

40. An electric motor vehicle control device according to claim 35, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when rotation of a driving wheel of said electric motor vehicle is prevented including a state wherein a brake for said electric motor vehicle is activated.

41. An electric motor vehicle control device according to claim 36, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when rotation of a driving wheel of said electric motor vehicle is prevented including a state wherein a brake for said electric motor vehicle is activated.

42. An electric motor vehicle control device according to claim 32, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when an operation range of said electric motor vehicle is in parking range.

43. An electric motor vehicle control device according to claim 33, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when an operation range of said electric motor vehicle is in parking range.

44. An electric motor vehicle control device according to claim 34, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when an operation range of said electric motor vehicle is in parking range.

45. An electric motor vehicle control device according to claim 35, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when an operation range of said electric motor vehicle is in parking range.

46. An electric motor vehicle control device according to claim 36, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when an operation range of said electric motor vehicle is in parking range.

47. The electric motor vehicle control device having a synchronous motor, comprising:

a controller; and

an inverter which drives said synchronous motor based on an output from said controller;

wherein said controller includes a first detector unit which detects a magnetic pole position of said synchronous motor based on a variation amount or a variation direction of a motor current when said synchronous motor is in a short circuited state under control by said inverter, and a control unit which generates an output based on the detected magnetic pole position, and further includes a second detector unit which detects a magnetic pole position at the time when a rotating speed of said synchronous motor is in a predetermined low range including a rotation stoppage state, wherein said controller controls the synchronous motor based on an output from said second detector unit when a rotating speed of said synchronous motor is in a predetermined low range including a rotation stoppage state and controls based on an output from said first detector unit when a rotating speed of said synchronous motor is in a range larger than the predetermined low range; and

further comprising

a mechanism which prevents rotation of said synchronous motor, wherein when the rotation of said synchronous motor is prevented by said mechanism, a current based on an output current from said second detector unit is supplied to said synchronous motor.

48. An electric motor vehicle control device according to claim 47, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when rotation of a driving wheel of said electric motor vehicle is prevented including a state wherein a brake for said electric motor vehicle is activated.

49. An electric motor vehicle control device according to claim 47, wherein the current supply to said synchronous motor based on the output from said second detector unit is started under a state when an operation range of said electric motor vehicle is in parking range.